Merge pull request #236 from maoxiang1991/main

fix bug: blind param not work
hku-mars · Apr 10, 2023 · 0dbfc6e · 0dbfc6e
2 parents 02d022e + fa4cf34
commit 0dbfc6e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/preprocess.cpp b/src/preprocess.cpp
@@ -169,9 +169,9 @@ void Preprocess::avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg)
           pl_full[i].intensity = msg->points[i].reflectivity;
           pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms
 
-          if((abs(pl_full[i].x - pl_full[i-1].x) > 1e-7) 
+          if(((abs(pl_full[i].x - pl_full[i-1].x) > 1e-7) 
               || (abs(pl_full[i].y - pl_full[i-1].y) > 1e-7)
-              || (abs(pl_full[i].z - pl_full[i-1].z) > 1e-7)
+              || (abs(pl_full[i].z - pl_full[i-1].z) > 1e-7))
               && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind)))
           {
             pl_surf.push_back(pl_full[i]);